DocumentCode
425254
Title
Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model
Author
Liu, Chao ; Cheah, Chien Chern
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Volume
6
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
5268
Abstract
In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.
Keywords
actuators; adaptive control; approximation theory; convergence; feedback; manipulator dynamics; manipulator kinematics; stability; uncertain systems; 3 link robot dynamics; actuator model; approximation theory; convergence; feedback gain; stability problem; sufficient conditions; task space adaptive setpoint control; task space position error; uncertain kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384689
Link To Document